function data = preprocessPointCloud(data)

if ~iscell(data)
    data = {data};
end

numObservations = size(data,1);
for i = 1:numObservations
    % Scale points between 0 and 1.
    xlim = data{i,1}.XLimits;
    ylim = data{i,1}.YLimits;
    zlim = data{i,1}.ZLimits;
    
    xyzMin = [xlim(1) ylim(1) zlim(1)];
    xyzDiff = [diff(xlim) diff(ylim) diff(zlim)];
    
    data{i,1} = (data{i,1}.Location - xyzMin) ./ xyzDiff;
end
end
